Robust navigation techniques for the GVG-based slam in unstructured environment

Sunghwan Ahn, Nakju Lett Doh, Wan Kyun Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The Generalized Voronoi Graph (GVG) has been effectively used for the SLAM and navigation of mobile robots. Since the mobile robot should perform the GVG-based SLAM and navigation in unstructured environments using inaccurate noisy sensors, it requires accurate data association and robust navigation techniques. in this paper, we suggest three techniques for a robust construction of the GVG. The first one is a robust node matching technique and the second one is an adaptable sensor area matching method for the robust exploration. Finally we propose a technique which is capable of distinguishing between closely located nodes. The simulation results show that the proposed algorithm can work successfully under 20% errors of odometry and range sensor in unstructured environment.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Pages463-468
Number of pages6
ISBN (Print)008045108X, 9780080451084
DOIs
Publication statusPublished - 2005
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume16
ISSN (Print)1474-6670

Keywords

  • Generalized Voronoi Graph (GVG)
  • Mobile robots
  • Node matching
  • Topological localization

ASJC Scopus subject areas

  • Control and Systems Engineering

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